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Proceedings Paper

Performance characterization of an automated system for robot configuration synthesis
Author(s): Patrick C. Leger
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Paper Abstract

We describe the results of several experiments aimed at understanding the performance, behavior, and limitations of Darwin2K, an automated system for robot configuration synthesis and optimization. Two design tasks are addressed: the design of a robot for walking along trusses in zero gravity, and of a manipulator for a coverage task. We explore the impact of several factors on synthesizer performance, including the set of robot component and assemblies available to the synthesizer, the set of metrics used to quantify robot performance, and the scope of the task on which robots are assessed. The meaning and impact of the experimental results is given, and we discuss potential improvements in the method of use of Darwin2K as well as future improvements to the system itself.

Paper Details

Date Published: 16 October 2000
PDF: 12 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403741
Show Author Affiliations
Patrick C. Leger, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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